Stochastic optimization methods in robust adaptive control of robots
The aim of this paper is to present a stochastic optimization approach to the problem of robust adaptive planning and control of industrial or service robots. On the basis of an adaptive optimal stochastic trajectory planning and control, the a priori and sample information available on the robot is incorporated into the control process by using stochastic optimization techniques. The proposed approach provides more robust guiding functions for the reference trajectories, and feedforward controls are obtained. By a replanning procedure, further information about the control process is derived, and the guiding functions can be updated. Additionally, the resulting smaller tracking errors entail reducing the on-line correction expenses, being obtained with more robust controls. Analytical estimates for the reduction of the on-line correction expenses are provided. For the entire collection see [Zbl 0971.00007].
- Stochastic Programming Methods in Adaptive Optimal Trajectory Planning for Robots
- Robust Optimal Trajectory Planning for Robots by Stochastic Optimization
- Feedback control of industrial robots by means of stochastic optimization techniques
- Adaptive optimal stochastic trajectory planning
- scientific article; zbMATH DE number 5296981
- Multiobjective trajectory optimization and adaptive backstepping control for rubber unstacking robot based on RFWNN method
- Adaptive optimal stochastic trajectory planning in real time using neural network approximations
- Robust optimal control of robots by means of stochastic optimization
- Feedback control of industrial robots by means of stochastic optimization techniques
- Stochastic optimal control of state constrained systems
- Robust Optimal Trajectory Planning for Robots by Stochastic Optimization
- Random field estimation approach to robot dynamics
- scientific article; zbMATH DE number 5296981 (Why is no real title available?)
- Stochastic optimal structural control: stochastic optimal open-loop feedback control
- Path planning for robots under stochastic uncertainty*
- Reduction of the On‐line Measurement and Control Expenses by Adaptive Stochastic Path Planning
- Stochastic optimal open-loop feedback control of dynamic structural systems under stochastic uncertainty
- Optimal PID controller of robots under stochastic uncertainty
- Stochastic Programming Methods in Adaptive Optimal Trajectory Planning for Robots
- Adaptive optimal stochastic trajectory planning and control (AOSTPC) for robots
- Chance-constrained optimization for contact-rich systems using mixed integer programming
- Statistical linearization for robust motion planning
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